Note 1 - Summary of Significant Accounting Policies (Details Textual)		3 Months Ended		9 Months Ended
	Oct. 01, 2022 USD ($)	Sep. 30, 2023 USD ($) shares	Sep. 24, 2022 USD ($) shares	Sep. 30, 2023 USD ($) shares	Sep. 24, 2022 USD ($) shares	Dec. 31, 2022 USD ($)
Accounts Receivable, Allowance for Credit Loss		$ 300,000		$ 300,000		$ 200,000
Capitalized Computer Software, Gross		12,800,000		12,800,000		14,700,000
Capitalized Computer Software, Amortization		700,000	$ 400,000	$ 2,100,000	$ 1,434,000
Number of Operating Segments				3
Number of Reportable Segments				1
Goodwill and Intangible Asset Impairment, Total	$ 0
Amortization of Debt Issuance Costs		32,000	100,000	$ 100,000	300,000
Gain (Loss), Foreign Currency Transaction, before Tax		$ (1,200,000)	$ 1,344,000	$ (2,285,000)	$ 3,979,000
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount (in shares) | shares		186,000	325,000	206,000	300,000
Revenue, Remaining Performance Obligation, Amount		$ 6,400,000		$ 6,400,000
Provision for Doubtful Accounts				0
Contract with Customer, Asset, after Allowance for Credit Loss, Total		0		0
Contract with Customer, Liability		10,600,000		10,600,000		16,100,000
Deferred Profit		4,544,000		4,544,000		8,022,000	[1]
Deferred Profit Long-term		5,100,000		5,100,000		5,500,000
Accumulated Other Comprehensive Income (Loss), Net of Tax		$ (46,965,000)		$ (46,965,000)		$ (40,012,000)	[1]
Computer Software, Intangible Asset [Member]
Finite-Lived Intangible Asset, Useful Life (Year)		7 years		7 years
Minimum [Member]
Standard Product Warranty Term (Month)				12 months
Maximum [Member]
Standard Product Warranty Term (Month)				36 months
Building [Member] | Minimum [Member]
Property, Plant and Equipment, Useful Life (Year)		30 years		30 years
Building [Member] | Maximum [Member]
Property, Plant and Equipment, Useful Life (Year)		40 years		40 years
Building Improvements [Member] | Minimum [Member]
Property, Plant and Equipment, Useful Life (Year)		5 years		5 years
Building Improvements [Member] | Maximum [Member]
Property, Plant and Equipment, Useful Life (Year)		15 years		15 years
Machinery, Equipment and Software [Member] | Minimum [Member]
Property, Plant and Equipment, Useful Life (Year)		3 years		3 years
Machinery, Equipment and Software [Member] | Maximum [Member]
Property, Plant and Equipment, Useful Life (Year)		10 years		10 years

[1] Derived from December 31, 2022 audited financial statements